MATLAB and SOFA #5684

Price300 · 2025-09-04T10:56:14Z

Price300
Sep 4, 2025

Hi to everyone, i'm trying to connect SOFA v25.06 and MATLAB 2024b. i'm having some problems launching sofa from matlab due to segmentation fault. i tried to follow the guide and i tried to preload the qt libraries but it seems not working because new version of sofa use imgui as default i think. So i tried to use the -g imgui and -g glfw options but is not possible to open the sceen due to segmentation problem. in batch mode works fine. My aim is to control tendons in the scene using a controller specified in matlab by taking feedback from sofa and dynamic parameters, is this the right way to do it? or is not possiible to connect Matllab/Simullink to a sofa scene?

bakpaul · 2025-09-16T09:41:52Z

bakpaul
Sep 16, 2025
Maintainer

Hello,

It will be easier for me to help you if you could publish all of the output in the terminal when you launch SOFA (both the normal output and the segfault stacktrace)

4 replies

Price300 Sep 17, 2025
Author

HI, sorry for late reply.
this is the command line i use un linux terminal before launching matlab: LD_PRELOAD="/usr/lib/x86_64-linux-gnu/libstdc++.so.6" matlab
i ttok it directly from sofa doc page but i deleted the part related to Qt because i'm currently usinng matlab 2024b that use it's own qt version and, as far as i kno, sofa 25 does nor rely on qt anymore.

In matlab i'm usimg this instruction: [status, result] = system('/home/francesco/sofa_dev/SOFA_v25.06.00/bin/runSofa -g imgui')

here the output of the terminal:

result

result =

'[INFO]    [runSofa] PluginRepository paths = /home/francesco/sofa_dev/SOFA_v25.06.00/lib:/home/francesco/sofa_dev/SOFA_v25.06.00/plugins
 [INFO]    [runSofa] DataRepository paths = /home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa:/home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa/examples:/home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa:/home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa/examples:/home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa/icons
 [INFO]    [runSofa] runSofaDataRepository paths = /home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa/gui/runSofa:/home/francesco/sofa_dev/SOFA_v25.06.00/share/sofa/gui/runSofa
 [INFO]    [GUIManager] Registered batch as a GUI.
 [INFO]    [runSofa] Loading automatically plugin list in /home/francesco/sofa_dev/SOFA_v25.06.00/lib/plugin_list.conf
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.ODESolver.Forward.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.ODESolver.Backward.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.ODESolver.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.IO.Mesh.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.IO.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Playback.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SceneUtility.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Container.Constant.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Container.Dynamic.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Container.Grid.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Container.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Mapping.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.Utility.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Topology.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Visual.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSystem.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSolver.Iterative.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSolver.Ordering.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSolver.Direct.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSolver.Preconditioner.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.LinearSolver.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Mass.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Diffusion.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Mapping.Linear.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Mapping.NonLinear.so
 [DEPRECATED] [Sofa.Component.Mapping.MappedMatrix] This plugin is deprecated and will be removed in the future.
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Mapping.MappedMatrix.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Mapping.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.StateContainer.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.Spring.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.FEM.Elastic.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.FEM.HyperElastic.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.FEM.NonUniform.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.FEM.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.TensorMass.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.SolidMechanics.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.Lagrangian.Model.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.Lagrangian.Correction.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.Lagrangian.Solver.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.Lagrangian.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.Projective.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Constraint.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.AnimationLoop.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.MechanicalLoad.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Geometry.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Detection.Algorithm.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Detection.Intersection.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Detection.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Response.Mapper.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Response.Contact.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.Response.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Collision.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Setting.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Controller.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Engine.Analyze.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Engine.Generate.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Engine.Select.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Engine.Transform.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Engine.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.Haptics.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Component.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GL.Component.Rendering2D.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GL.Component.Rendering3D.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GL.Component.Engine.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GL.Component.Shader.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GL.Component.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GUI.Component.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.GUI.Batch.so
 [INFO]    [GUIManager] Registered glfw as a GUI.
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SofaGLFW/lib/libSofaGLFW.so
 [INFO]    [GUIManager] Registered imgui as a GUI.
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SofaImGui/lib/libSofaImGui.so
 [ERROR]   [PluginManager] Plugin loading failed (/home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Qt.so): /home/francesco/sofa_dev/SOFA_v25.06.00/lib/../lib/libQt5Qml.so.5: undefined symbol: _ZN14QMetaCallEventC1EttPFvP7QObjectN11QMetaObject4CallEiPPvEPKS0_iiPiS5_P10QSemaphore, version Qt_5_PRIVATE_API
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/MultiThreading/lib/libMultiThreading.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/Sofa.Metis/lib/libSofa.Metis.so
 [INFO]    [PluginManager] 71 plugins have been loaded from /home/francesco/sofa_dev/SOFA_v25.06.00/lib/plugin_list.conf
 [INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckEmptyNodeName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
 [SUGGESTION] [SceneCheckMultithreading] This scene is using components implemented sequentially while a parallel implementation is available. Using the parallel implementation may improve the performances. Here is the list of sequential components in your scene and their parallel equivalent:   
 	TetrahedronFEMForceField[Vec3d] -> ParallelTetrahedronFEMForceField[Vec3d]  
 
 [INFO]    [SceneCheckerVisitor] Finished validating node "root".
 [INFO]    [ImGuiGUIEngine] Fetching settings from /home/francesco/.config/SOFA/config/imgui/settings.ini
 [ERROR]   [PluginManager] Plugin loading failed (/home/francesco/sofa_dev/SOFA_v25.06.00/lib/libSofa.Qt.so): /home/francesco/sofa_dev/SOFA_v25.06.00/lib/../lib/libQt5Qml.so.5: undefined symbol: _ZN14QMetaCallEventC1EttPFvP7QObjectN11QMetaObject4CallEiPPvEPKS0_iiPiS5_P10QSemaphore, version Qt_5_PRIVATE_API
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/STLIB/lib/libSTLIB.so
 [INFO]    [SofaPython3] Initializing with python version 3.12.3 (main, Aug 14 2025, 17:47:21) [GCC 13.3.0]
 [INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
 [INFO]    [SofaPython3] Initializing python
 [INFO]    [SofaPython3] Added '/home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SofaPython3/lib/python3/site-packages' to sys.path
 [INFO]    [SofaPython3] Added '/home/francesco/sofa_dev/SOFA_v25.06.00/lib/python3/site-packages' to sys.path
 ---------------------------------------
 Checking SOFA_ROOT and SOFAPYTHON3_ROOT
 Using environment variable SOFA_ROOT: /home/francesco/sofa_dev/SOFA_v25.06.00
 ---------------------------------------
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SofaPython3/lib/libSofaPython3.so
 [INFO]    [PluginManager] Loaded plugin: /home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SoftRobots/lib/libSoftRobots.so
 [INFO]    [SofaPython3] Added '/home/francesco/sofa_dev/SOFA_v25.06.00/plugins/SoftRobots/lib/python3/site-packages' to sys.path
 [INFO]    [PluginManager] 3 plugins have been loaded from /home/francesco/.config/SOFA/config/loadedPlugins.ini
 
 ########## SIG 11 - SIGSEGV: segfault ##########
   sofa::helper::BackTrace::sig(int)
 '

i also tried without any g option.
If i try to open directly a specific scene, this is the output is the same.

hugtalbot Oct 2, 2025
Maintainer

Ciao Francesco @Price300

From the stacktrace, we see that the linking of SOFA against Qt is not correct.
To pursue the investigation, could you try the same command outside from Matlab and let us know whether SOFA is opening correctly or not.

Best,

Price300 Oct 2, 2025
Author

Ciao
outside matlab both g options imgui and qt works. In fact currently I'm working outside matlab.
The goal is to use a controller specified in matlab to control a tendon driven system in a sofa scene. Gemini suggested to use sockets or something like this, but I'm not an expert so i don't know if it will be the best solution.

hugtalbot Jan 6, 2026
Maintainer

I guess then @Price300 working on the Matlab environment variable for Qt should do it, don't you think?
@bakpaul worked on client & server classes offering a SOFA oriented API using RPyC here: https://github.com/sofa-framework/SofaPython3/tree/master/examples/RPYC if this can help

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